class AgentStopInFrontOfWall(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
th = sum(values)
if th > 100:
self.hz = 0
self.motors.set_values(0, 0)
return
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
def loop(self):
direction = self.yaw.get_value()
print direction
#example of how to get the angular velocity
#vel = self.yaw.get_velocity()
#print direction, vel
p_gain = 10.0
diff = 20*direction / 9 * p_gain
self.motors.set_values(diff, - diff)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
def loop(self):
direction = self.yaw.get_value()
print direction
#example of how to get the angular velocity
#vel = self.yaw.get_velocity()
#print direction, vel
p_gain = 10.0
diff = 20 * direction / 9 * p_gain
self.motors.set_values(diff, -diff)
time.sleep(0.02)
class AgentStopInFrontOfWall(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
th = sum(values)
if th > 100:
self.hz = 0
self.motors.set_values(0,0)
return
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
self.hz = 0
def loop(self):
direction = self.yaw.get_value()
#print direction
if abs(direction) > 5.0:
self.hz = 0
self.hz += 10
if self.hz > 3500:
self.hz = 3500
p_gain = 10.0
diff = 20 * direction / 9 * p_gain
if diff > 400.0: diff = 400.0
elif diff < -400.0: diff = -400.0
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
self.hz = 0
def loop(self):
direction = self.yaw.get_value()
#print direction
if abs(direction) > 5.0:
self.hz = 0
self.hz += 10
if self.hz > 3500:
self.hz = 3500
p_gain = 10.0
diff = 20*direction / 9 * p_gain
if diff > 400.0: diff = 400.0
elif diff < -400.0: diff = -400.0
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
class AgentRunRandom(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
[leftfront, leftside, rightside, rightfront] = values
if leftfront + rightfront > 100:
self.hz = 0
self.motors.set_values(0, 0)
time.sleep(0.5)
if leftfront + leftside > rightfront + rightside:
self.motors.set_values(300, -300)
else:
self.motors.set_values(-300, 300)
time.sleep(0.5)
return
if leftside < 50 and rightside < 50:
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
return
#1cm近づくとだいたい50値が増える
error = (leftside - rightside) / 50.0
#1cmあたり3度/秒変化をつける
direction = error * 3
diff = 20 * direction / 9
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
class AgentRunRandom(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
[leftfront,leftside,rightside,rightfront] = values
if leftfront + rightfront > 100:
self.hz = 0
self.motors.set_values(0,0)
time.sleep(0.5)
if leftfront + leftside > rightfront + rightside:
self.motors.set_values(300,-300)
else:
self.motors.set_values(-300,300)
time.sleep(0.5)
return
if leftside < 50 and rightside < 50:
self.motors.set_values(self.hz,self.hz)
time.sleep(0.02)
return
#1cm近づくとだいたい50値が増える
error = (leftside - rightside)/50.0
#1cmあたり3度/秒変化をつける
direction = error * 3
diff = 20*direction / 9
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
def loop(self):
direction = self.yaw.get_value()
print direction
diff = 20 * direction / 9
self.motors.set_values(diff, -diff)
time.sleep(1.0)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
def loop(self):
direction = self.yaw.get_value()
print direction
diff = 20 * direction / 9
self.motors.set_values(diff, -diff)
time.sleep(1.0)
class AgentGoAlongWall(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
leftside = values[1]
if leftside < 10:
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
return
target = 200
#1cm近づくとだいたい50値が増える
error = (target - leftside) / 50.0
#1cmあたり3度/秒変化をつける
direction = error * 3
diff = -20 * direction / 9
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
self.hz = 0
def loop(self):
self.hz += 10
if self.hz > 3500:
self.hz = 3500
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
class AgentGoStraight(Agent):
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
self.yaw.off()
def ready(self):
print >> sys.stderr, "ready"
self.yaw.on()
self.hz = 0
def loop(self):
self.hz += 10
if self.hz > 3500:
self.hz = 3500
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
class AgentGoAlongWall(Agent):
def __init__(self):
Agent.__init__(self)
self.motors = StepMotorRawControl()
self.hz = 0
def setup(self):
print >> sys.stderr, "setup"
def ready(self):
print >> sys.stderr, "ready"
self.hz = 0
def loop(self):
self.hz += 20
if self.hz > 2500:
self.hz = 2500
self.lightsensors.update()
values = self.lightsensors.get_values()
leftside = values[1]
if leftside < 10:
self.motors.set_values(self.hz, self.hz)
time.sleep(0.02)
return
target = 200
#1cm近づくとだいたい50値が増える
error = (target - leftside)/50.0
#1cmあたり3度/秒変化をつける
direction = error * 3
diff = -20*direction / 9
self.motors.set_values(self.hz + diff, self.hz - diff)
time.sleep(0.02)
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
def __init__(self):
Agent.__init__(self)
self.yaw = Yaw()
self.motors = StepMotorRawControl()
